package com.zy.asrs.utils;
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import com.core.exception.CoolException;
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import com.zy.asrs.domain.param.CrnOperatorParam;
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import com.zy.core.CrnThread;
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import com.zy.core.cache.SlaveConnection;
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import com.zy.core.enums.CrnTaskModeType;
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import com.zy.core.enums.SlaveType;
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import com.zy.core.model.Task;
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import com.zy.core.model.command.CrnCommand;
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import com.zy.core.model.protocol.CrnProtocol;
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import org.springframework.stereotype.Component;
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@Component
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public class CrnOperaUtils {
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//堆垛机入库
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public boolean crnPut(CrnOperatorParam param){
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CrnCommand command = new CrnCommand();
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command.setCrnNo(param.getCrnNo()); // 堆垛机编号
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command.setTaskNo((short) 0); // 工作号
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command.setAckFinish((short) 0); // 任务完成确认位
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command.setTaskMode(CrnTaskModeType.PAKIN); // 任务模式
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command.setSourcePosX(param.getSourceRow()); // 源库位排
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command.setSourcePosY(param.getSourceBay()); // 源库位列
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command.setSourcePosZ(param.getSourceLev()); // 源库位层
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command.setDestinationPosX(param.getRow()); // 目标库位排
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command.setDestinationPosY(param.getBay()); // 目标库位列
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command.setDestinationPosZ(param.getLev()); // 目标库位层
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return crnControl(command);
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}
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//堆垛机出库
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public boolean crnTake(CrnOperatorParam param){
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CrnCommand command = new CrnCommand();
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command.setCrnNo(param.getCrnNo()); // 堆垛机编号
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command.setTaskNo((short) 0); // 工作号
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command.setAckFinish((short) 0); // 任务完成确认位
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command.setTaskMode(CrnTaskModeType.PAKIN); // 任务模式
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command.setSourcePosX(param.getSourceRow()); // 源库位排
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command.setSourcePosY(param.getSourceBay()); // 源库位列
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command.setSourcePosZ(param.getSourceLev()); // 源库位层
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command.setDestinationPosX(param.getRow()); // 目标库位排
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command.setDestinationPosY(param.getBay()); // 目标库位列
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command.setDestinationPosZ(param.getLev()); // 目标库位层
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return crnControl(command);
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}
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//库位转移
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public boolean crnStockMove(CrnOperatorParam param){
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CrnCommand command = new CrnCommand();
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command.setCrnNo(param.getCrnNo()); // 堆垛机编号
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command.setTaskNo((short) 0); // 工作号
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command.setAckFinish((short) 0); // 任务完成确认位
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command.setTaskMode(CrnTaskModeType.LOC_MOVE); // 任务模式
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command.setSourcePosZ(param.getSourceRow()); // 源库位排
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command.setSourcePosX(param.getSourceBay()); // 源库位列
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command.setSourcePosY(param.getSourceLev()); // 源库位层
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command.setDestinationPosZ(param.getRow()); // 目标库位排
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command.setDestinationPosX(param.getBay()); // 目标库位列
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command.setDestinationPosY(param.getLev()); // 目标库位层
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return crnControl(command);
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}
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//站到站
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public boolean crnSiteMove(CrnOperatorParam param){
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CrnCommand command = new CrnCommand();
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command.setCrnNo(param.getCrnNo()); // 堆垛机编号
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command.setTaskNo((short) 0); // 工作号
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command.setAckFinish((short) 0); // 任务完成确认位
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command.setTaskMode(CrnTaskModeType.LOC_MOVE); // 任务模式
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command.setSourcePosX(param.getSourceStaNo()); // 源库位排
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command.setSourcePosY((short) 0); // 源库位列
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command.setSourcePosZ((short) 1); // 源库位层
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command.setDestinationPosX(param.getStaNo()); // 目标库位排
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command.setDestinationPosY((short) 0); // 目标库位列
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command.setDestinationPosZ((short) 1); // 目标库位层
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return crnControl(command);
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}
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//回原点
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public boolean crnBacOrigin(CrnOperatorParam param){
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CrnCommand command = new CrnCommand();
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command.setCrnNo(param.getCrnNo()); // 堆垛机编号
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command.setTaskNo((short) 0); // 工作号
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command.setAckFinish((short) 0); // 任务完成确认位
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command.setTaskMode(CrnTaskModeType.GO_ORIGIN); // 任务模式
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command.setSourcePosX((short) 0); // 源库位排
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command.setSourcePosY((short) 0); // 源库位列
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command.setSourcePosZ((short) 0); // 源库位层
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command.setDestinationPosX((short) 0); // 目标库位排
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command.setDestinationPosY((short) 0); // 目标库位列
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command.setDestinationPosZ((short) 0); // 目标库位层
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return crnControl(command);
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}
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//反原点
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public boolean reverseOrigin(CrnOperatorParam param){
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CrnCommand command = new CrnCommand();
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command.setCrnNo(param.getCrnNo()); // 堆垛机编号
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command.setTaskNo((short) 0); // 工作号
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command.setAckFinish((short) 0); // 任务完成确认位
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command.setTaskMode(CrnTaskModeType.GO_ORIGIN); // 任务模式
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command.setSourcePosX((short) 0); // 源库位排
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command.setSourcePosY((short) 0); // 源库位列
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command.setSourcePosZ((short) 0); // 源库位层
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command.setDestinationPosX((short) 0); // 目标库位排
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command.setDestinationPosY((short) 22); // 目标库位列
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command.setDestinationPosZ((short) 1); // 目标库位层
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return crnControl(command);
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}
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//任务完成
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public boolean crnTaskComplete(Integer crnNo) {
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CrnCommand command = new CrnCommand();
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command.setCrnNo(crnNo); // 堆垛机编号
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command.setTaskNo((short) 0); // 工作号
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command.setAckFinish((short) 1); // 任务完成确认位
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command.setTaskMode(CrnTaskModeType.NONE); // 任务模式
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command.setSourcePosX((short) 0); // 源库位排
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command.setSourcePosY((short) 0); // 源库位列
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command.setSourcePosZ((short) 0); // 源库位层
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command.setDestinationPosX((short) 0); // 目标库位排
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command.setDestinationPosY((short) 0); // 目标库位列
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command.setDestinationPosZ((short) 0); // 目标库位层
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command.setCommand((short)0);
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return crnControl(command);
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}
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//清除命令
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public boolean crnClearCommand(CrnOperatorParam param){
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CrnCommand command = new CrnCommand();
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command.setCrnNo(param.getCrnNo()); // 堆垛机编号
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command.setTaskNo((short) 0); // 工作号
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command.setAckFinish((short) 0); // 任务完成确认位
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command.setTaskMode(CrnTaskModeType.NONE); // 任务模式
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command.setSourcePosX((short) 0); // 源库位排
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command.setSourcePosY((short) 0); // 源库位列
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command.setSourcePosZ((short) 0); // 源库位层
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command.setDestinationPosX((short) 0); // 目标库位排
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command.setDestinationPosY((short) 0); // 目标库位列
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command.setDestinationPosZ((short) 0); // 目标库位层
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return crnControl(command);
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}
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private boolean crnControl(CrnCommand command) {
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if (command.getCrnNo() == null) {
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return false;
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}
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CrnThread crnThread = (CrnThread) SlaveConnection.get(SlaveType.Crn, command.getCrnNo());
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if (crnThread == null) {
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throw new CoolException("堆垛机不在线");
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}
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CrnProtocol crnProtocol = crnThread.getCrnProtocol();
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if (crnProtocol == null) {
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throw new CoolException("堆垛机不在线");
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}
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if (CommandUtils.offer(SlaveType.Crn, command.getCrnNo(), new Task(2, command), false)) {
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return true;
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} else {
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throw new CoolException("命令下发失败");
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}
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}
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}
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